Adaptive position/force control of an uncertain constrained flexible joint robots - singular perturbation approach

This paper addresses the issue of adaptive position/force control of an uncertain constrained flexible joint robots based on singular perturbation approach, in which the fast variables and the slow variables are defined by combing the force and position signals. It relies on the feedback of joint state variables and avoids noisy joint torque feedbacks. The proposed approach achieves the position tracking and the boundedness of force errors for the constrained robot with weak joint flexibility.